Mobile robots are increasingly used in industrial applications. There are many constructive solutions for mobile robots using various variants of actuation and control. The proposed work presents a low-cost variant of a mobile robot equipped with Mecanum wheels, which uses brushed DC motors, controlled by the PWM method as the actuation solution. In the first part, a multicriteria analysis based on the AHP method was performed for the selection of the actuation solution. Then, using the software tools Simscape Multibody, Matlab, and Simulink, models were developed that allowed the simulation of the operation of the proposed robot, based both on its kinematics and dynamics. Using these models, both the Mecanum wheel drive version and the differential drive version were studied by means of simulation. The simulations mainly aimed at identifying the way the currents vary through the wheel drive motors, in order to find methods to reduce them. The values obtained by the simulation were later compared with those obtained experimentally, and the corresponding conclusions with regard to the accuracy of the models were drawn.

This scientific paper presents the development and validation process of a dynamic model in Simulink used for decision-making regarding the locomotion and driving type of autonomous omnidirectional mobile platforms. Unlike traditional approaches relying on differential equations, this study uses Simulink’s block-based diagrams, offering a simpler and efficient development process. Importantly, the dynamic model accounts for friction forces, a critical factor for energy monitoring. The model’s validation is conducted experimentally, ensuring its accuracy and reliability. This paper formulates mathematical models for both conventional and Mecanum wheel configurations, facilitating energy-efficient driving strategies. By decomposing resistive forces into inertial and frictional components using the Jacobian matrix, this study accurately simulates electrical current consumption during robot motion. Through fuzzy decision algorithms utilizing parameters such as energy consumption, travel time, precision, and desired maneuverability, this paper proposes a method for determining the optimal locomotion mode for mobile platforms with Mecanum wheels. Overall, this research brings a new contribution to the field of mobile robotics by providing a comprehensive framework for dynamic modeling and it offers the possibility to drive omnidirectional robots in an energy-efficient manner.

The degree of automation in the industry increases more and more every year, trying to reduce more and more or even eliminate the collaboration with the human operator. The basis of all automatic industrial equipment is PLCs. This paper presents a method of extending the number of inputs and outputs of a Siemens Simatic S7-1200 PLC, using an Arduino Mega development board and an Ethernet communication. Following the realization of this communication, the number of inputs and outputs will increase considerably, being able to connect various sensors used for the construction of an omnidirectional mobile platform, but also for equipment for industry. The advantages of using this communication are multiple, both from a financial point of view and from the point of view of the flexibility and integration of robotic systems in industrial equipment.

This article describes a method for the real-time monitoring of the current consumed by a Dynamixel MX 64 AT servomotor used in the actuation system of modular mobile robotic platforms having differential locomotion and conventional wheels. The data acquisition method is based on an Arduino Mega 2560 development board interfaced with Matlab Simulink and the ASC712-5A hall sensor for current detection. A Simulink model is presented that performs the detection of a sensor reference voltage, which needs to be calibrated for a correct reading of the current. Due to the low resolution of the analog-to-digital converter with which the Arduino Mega is equipped, current monitoring is difficult to achieve, having large fluctuations and a lower resolution than the current absorbed by the servomotor. The solution to this problem is achieved by implementing, in the hardware construction, an ADS115 conversion module with 16-bit resolution, which leads to an increase in the measurement range of the ASC712-5A sensor. The current acquisition model with the Hall sensor is experimentally validated using measurements on the physical model of the drive wheel. This article further deals with the CAD and digital block modeling of mobile platforms with four and two wheels. The dynamic model of the robot is created in the Simulink–Simscape–Multibody environment and is used to determine the servomotor torques when the robot is moving along the predefined path. The torque variations are entered as variables in the Simulink digital block model of the robot. The Simulink model is simulated when moving along a square path, which determines the variation in the current absorbed by the motors. Experimental validation of the model is carried out using measurements on the functional models that operate in real conditions. A power consumption method is further proposed.

Single point incremental forming (SPIF) represents a flexible manufacturing process capable of producing complex sheet metal parts without the need for dedicated forming dies. However, achieving high dimensional accuracy remains a major challenge due to phenomena such as elastic springback and localized deformation. In this context, the present study investigates the influence of tool-axis orientation on the dimensional accuracy of parts manufactured through robot-based single point incremental sheet forming (RB-SPIF). The experimental analysis considered two toolpath strategies (contour and spiral), two vertical step sizes (0.5 mm and 1 mm), and two tool-axis configurations (fixed tool-axis and wall-normal tool-axis orientation), resulting in eight experimental cases. The dimensional accuracy of the manufactured parts was evaluated using optical 3D scanning and cross-sectional profile analysis. The results show that the vertical step size has a significant influence on the resulting geometry, with smaller step sizes generating profiles closer to the nominal geometry. The toolpath strategy also affects the geometry, with spiral trajectories generally producing slightly improved profiles compared to contour strategies; however, this effect was not found to be statistically significant under the investigated conditions. Furthermore, the use of a wall-normal tool-axis configuration improves the agreement between the measured and nominal profiles by enhancing the contact conditions between the tool and the metal sheet surface. These findings indicate that adaptive tool-axis orientation represents a promising strategy for improving the dimensional accuracy of parts produced by robot-based incremental sheet forming systems.

Omnidirectional mobile robots are increasingly used in industrial and service applications due to their high maneuverability and ability to perform combined translational and rotational motions in confined spaces. However, these locomotion advantages are often accompanied by additional wheel–ground interaction losses, making power consumption an important design criterion in the design of efficient mobile platforms. This study presents a dynamic modeling and experimental-power benchmarking framework for a modular mobile robot equipped with three omnidirectional wheels, using a four-omni-wheel configuration as a baseline reference for comparison. A CAD-consistent multibody dynamic model of the three-wheel architecture is developed in the MATLAB/Simulink–Simscape Multibody R2024benvironment to estimate motor currents and electrical-power demand during motion. Experimental validation is carried out on the physical prototype using Hall-effect current sensors integrated into the drive modules, enabling real-time current acquisition for each motor. Both the simulation and experiments are performed on a standardized 1 m square-path benchmark at a constant 12 V supply. The results show that the proposed three-omni-wheel configuration reaches a total measured power of 14.43 W and a simulated power of 12.72 W, corresponding to a robot-level deviation of 11.85%. By comparison, the four-omni-wheel baseline exhibits a total measured power of 25.75 W and a simulated power of 24.92 W. Therefore, the proposed three-wheel architecture reduces the measured power demand by approximately 43.96% relative to the baseline, while the four-wheel configuration provides higher model fidelity. The proposed methodology supports power-oriented evaluation and informed design selection of omnidirectional locomotion architectures for modular mobile robots intended for industrial applications.